DE102008002086B4 - Vehicle imaging system and vehicle control device - Google Patents

Abstract

Vehicle control device with:
a vehicle imaging system (10) comprising
an imaging device (20) provided with an imaging element (24) which converts both visible light and an infrared ray into electrical signals for imaging at least part of a region around a vehicle,
a low beam headlamp (41) that radiates a visible light including a relatively small amount of infrared rays to a portion (II) of an area extending away from a front end portion of the vehicle,
a high-beam headlamp (42) which radiates a light comprising a relatively large amount of infrared rays to a portion (I) farther from the vehicle than the portion (II) to which the visible light passes through the low-beam headlamp (FIG. 41) is broadcast,
a visible light attenuator (30) disposed at a position through which an infrared ray emitted by the high beam headlamp (42) and received by the imaging element (24) passes, and which is a part of an infrared ...

Description

BACKGROUND OF THE INVENTION

1. Field of the invention

The The invention relates to a vehicle control device comprising a vehicle imaging system used that at least part of an area around a vehicle maps around and outputs image data.

2. Description of the related State of the art

In recently, Time is a control system that, for example, LKA (Lane Keeping Assist or Lane Keeping Assist) has become available. The control system detects the position of a road department line or road boundary line, the on a street is drawn or laid, recognizes the positional relationship between a Vehicle and a lane and performs a control such that a steering torque is automatically output to the vehicle to drive without deviation from the lane (below the controller is referred to as "Lane Keeping Control").

As well is a control system available that for example, as an accident prevention system or pre-crash security system is designated, wherein the control system has been studied. The Control system detects an object in front of a vehicle, determined a possibility a collision between the vehicle and the object, and performs different Controls (the controls will hereafter be referred to as "collision prediction control").

Likewise, for example, in the Japanese Patent Publication No. 2005-47390 ( JP-A-2005-47390 ) describes an invention relating to a vehicle lighting system that emits light of a predetermined visible wavelength to an object imaged by an infrared imaging device, and that includes a filter that prevents the light of the predetermined wavelength from entering a driver's eyes arrives.

Likewise, for example, in the Japanese Patent No. 3119031 "An invention relating to an imaging apparatus comprising a camera-mounted camera imaging a driver's head using an infrared ray, a visible light barrier filter provided in front of a front surface of the camera, and a notch filter provided in an upper portion of a windshield for infrared rays. In this apparatus, the infrared ray cut filter blocks the infra-red rays entering into a passenger compartment from the outside, thereby keeping the intensity of the infrared rays hitting the driver's head at a constant level.

In The control systems described above are a device to detect a road boundary line and means for detecting an object in front of a vehicle essential elements. Currently, as the device for detection a road boundary line a CCD camera or a CMOS camera used. As the device for detecting an object before The vehicle uses a millimeter-wave radar. But when both the camera and the radar device are provided, be the size and the Cost of the entire device elevated. Likewise, the radar device may have an article with a low permittivity (that is, an object that does not sufficiently reflect the radar waves) not clear. Therefore it is, although it is for the radar device relatively simple is a vehicle, a guardrail or the like to recognize, for the radar device difficult to detect a pedestrian or the like.

In this regard is it is conceivable to project the infrared beam to a pedestrian or the like and an image using the reflected infrared ray or a picture using a pedestrian or a picture the like due to the body temperature of the pedestrian or to produce the same emitted infrared rays. When a Camera for detecting a road boundary line and to generate an image using the infrared ray used are the size and the Cost of the entire device not enlarged.

That in the above Japanese Patent Publication No. 2005-47390 described device and in the above Japanese Patent No. 3119031 However, devices described have been provided for completely different purposes. Consequently, none of these devices can be used as the camera device for the tracking control and the collision prediction control.

In the article by Volker Graefe: "Real-time image processing for a driver support system for use on highways", it + ti - Information Technology and Technical Informatics 36 (1994), 1st Issue 1/94, Special Edition Robotics, R. Oldenbourg Verlag, Pp. 16-24, are a collision prediction control apparatus using images provided by a camera system (see 10 the citation 6), and a lane keeping control device, which is opened by a camera taken pictures.

The DE 103 15 741 A1 relates to a device for improving the visibility in a motor vehicle. It is provided with a radiation source for illuminating the vehicle environment with infrared radiation, with an infrared-sensitive camera for detecting at least a part of the illuminated vehicle environment and with a display for displaying the image information captured by the camera. The camera is associated with an IR filter, which has areas of different transmission properties.

The DE 10 2004 001 556 A1 relates to a night vision system for motor vehicles, comprising a camera with a radiation-sensitive image sensor surface, configured for detecting electromagnetic radiation, in particular from the infrared range. In order to improve such a system with respect to the long-distance view beyond the low-beam region, it contains a filter element which is arranged in the beam path of the night vision system in such a way that it brings about a weakening of the detected radiation onto predetermined partial regions of the image sensor.

The DE 10 2004 028 616 A1 concerns a camera lens. The f-number of the camera lens is wavelength-dependent. This wavelength-dependent f-number is set by the radial and spectral characteristics of the transmissivity of at least one filter in the diaphragm. Furthermore, a device for improving the visibility in a motor vehicle with such a camera is proposed, wherein the camera is designed for daytime vision and / or night vision applications. In particular, the device is a night vision system for motor vehicles.

The DE 103 35 189 A1 relates to a device for improving the visibility in a motor vehicle. It is provided with a radiation source for illuminating the vehicle environment with infrared radiation, with an infrared-sensitive camera for detecting at least a part of the illuminated vehicle environment and with a display for displaying the image information captured by the camera. The camera is assigned a homogeneous IR filter, which has different spectral transmission properties.

The DE 102 54 023 A1 relates to a headlamp assembly for vehicles, with at least one light source for generating visible light components and non-visible light components in an infrared frequency range, one of these associated device for focusing the light components to an area in front of the vehicle and with an adjustable in a beam path of the light source shutter for variable shading at least the visible light components. Furthermore, a device for visualizing a field of vision in the direction of travel of a vehicle with an infrared sensitive light receiving device for detecting the field of view and for generating a corresponding electronic signal is described, which includes a display device for visualizing image data of the signal for a driver of the vehicle.

BRIEF SUMMARY OF THE INVENTION

It It is an object of the invention to provide an improved vehicle control apparatus which a vehicle imaging system uses the image data generated by execution both a picture of visible light and a picture of Infrared rays are generated, with a simple construction outputs.

These Task is solved by a vehicle control device according to claim 1. advantageous Further developments are specified in the respective dependent claims.

According to the invention Is it possible, to output the image data by performing both the mapping of visible light as well as the imaging of infrared rays can be produced without providing a multiplicity of imaging devices, this means with a simple configuration.

According to the invention it is also possible that Vehicle imaging system, the image data, the by running both the picture of visible light and the picture of infrared rays, with a simple configuration outputs, and provide the vehicle control device, the Vehicle imaging system used.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other features and advantages of the invention will become apparent from the following description of exemplary embodiments with reference to the attached drawing can be seen, wherein like reference numerals represent the same Elements are used. Show it:

1 1 is a diagram showing an example of an overall configuration of a vehicle control apparatus;

2 a diagram showing an example of a scene in front of a vehicle, which is imaged by a camera,

3 a diagram that is an example of a Hardware configuration of the camera shows

4 a diagram that shows a way in which part of visible light from the scenery in front of the vehicle as seen in 2 is shown, blocked or dampened,

5 10 is a diagram showing an example of a power on / off control for each headlight and an example of a movable filter operation control;

6A and 6B a manner in which the position, size and range of the visible light barrier filter are adjusted so that an area to which the visible light is projected by a low beam headlamp is included in an unblocked area, and an area to which the visible light and an infrared ray are projected by a high-beam headlamp is included in a blocked area,

7 FIG. 4 is a flowchart showing a flow of control executed by an electronic control section; and FIG

8th a diagram showing that the visible light barrier filter between an imaging lens and an image sensor is arranged in a camera.

DETAILED DESCRIPTION OF THE EMBODIMENTS

below is an embodiment of the invention with reference to the accompanying drawings.

Below will be a vehicle imaging system 10 according to an embodiment of the invention and a vehicle control device 1 containing the vehicle imaging system 10 used, described.

In 1 1 is a diagram showing an example of an overall configuration of the vehicle control apparatus 1 shows. The vehicle control device 1 mainly includes the vehicle imaging system 10 , a lane keeping ECU (electronic control unit) 50 and a collision prediction ECU 60 , In 1 Dotted arrows indicate the flow of main information transmitted via wired or wireless communication.

The vehicle imaging system 10 includes a camera 20 , a blocking filter 30 for visible light, a headlight assembly 40 and a light ECU 45 ,

For example, in the camera 20 a solid state imaging device such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor or complementary metal oxide semiconductor) used. For example, the camera 20 disposed near a ceiling portion in a vehicle passenger compartment and has a light axis extending obliquely downward to a position in front of a vehicle. The viewing angle of the camera is set to map an area extending from a road surface in front of the vehicle to the substantially same height as that of the camera 20 extends. In 2 a diagram is shown showing an example of a scene in front of the vehicle being viewed through the camera 20 is shown. As it is in 2 shown is the camera 20 For example, road department lines that are drawn or laid on a road in front of the vehicle and another vehicle and a pedestrian in front of the vehicle map.

In 3 a diagram is shown which is an example of a hardware configuration of the camera 20 shows. For example, the camera includes 20 an imaging lens 22 that allows to image the above-described area, an image sensor 24 and an electronic control section 26 , Below is the camera 20 assuming that the camera 20 a CCD camera is.

For example, the image sensor 24 an intermediate line image sensor. The image sensor 24 includes photodiodes, the photodiodes corresponding CCD and a transmission gate. The photodiodes are light-receiving devices that perform a photoelectric conversion. The photodiodes are arranged in a two-dimensional plane and the CCDs are arranged in a two-dimensional plane. The transmission gate, which acts as an analogue switch, is provided between the photodiodes and the CCD. A microlens is at a front portion of each photodiode (ie, the portion of each photodiode that is near the imaging lens 22 is) to collect light rays. This structure is shown schematically as an example to the function of the image sensor 24 easy to describe. Thus, any modifications in design may be made to the functionality of the image sensor 24 to improve. Likewise, the image sensor needs 24 not necessarily the interline image sensor. A frame transfer image sensor or a frame transfer image sensor in which the CCD itself functions as the light receiving device may be used.

The image sensor 24 detects a near-infrared ray in addition to the visible light in a common visible light area. Consequently, the Ka to image an object radiating the near-infrared ray (an object that generates heat).

In the electronic control section 26 For example, a microcomputer, an electronic circuit and the like are used. The electronic control section 26 sets a shutter speed of the camera 20 and one cycle (for example, about several tens of times per second) that the camera uses 20 picks up an image by opening / closing timings of the transfer gate of the image sensor 24 to be controlled. Then the electronic control section amplifies 26 For example, data from the output circuit of the image sensor 24 are output using a predetermined gain, and then output the data to the outside as image data.

The blocking filter 30 for visible light blocks or attenuates the visible light and allows the near infrared ray to pass through the blocking filter 30 to go through for visible light. The blocking filter 30 for visible light is on a windshield 32 attached, incorporated therein, or integrally formed therewith to receive the visible light from an upper portion of the above-described area passing through the camera 20 is pictured, to block or dampen. As it is from the positional relationship in 1 can be seen obstructs the barrier filter 30 for visible light the driver's front field of view hardly.

In 4 a diagram is shown which shows a way in which the notch filter 30 for visible light a part of the visible light from the scenery in front of the vehicle, which in 2 is shown, blocks or dampens. As it is in 4 is shown blocks or dampens the notch filter 30 visible light is not the visible light from an area extending to a position several tens of meters away from a front end portion of the vehicle (hereinafter, the area is referred to as "unblocked area.") The visible light from the unblocked area enters the camera 20 over a section (II) in 1 ). Thus, the camera can 20 depict a road boundary line. The blocking filter 30 for visible light, the visible light blocks or attenuates from an area farther away from the front end portion of the vehicle than the unblocked area (hereinafter, the farther area is referred to as a "blocked area.") The visible light from the blocked area enters the camera 20 over a section (I) in 1 ). Thus, the camera can 20 imaged in the blocked area only an object (for example, a pedestrian), which reflects the near-infrared ray.

The headlight assembly 40 includes a low beam headlamp 41 , a high beam headlight 42 and a movable filter 43 , For example, the low beam headlight 41 an LED (Light Emitting Diode) device using a diode emitting a white light. The high beam headlight 42 For example, a halogen lamp that emits a relatively large amount of infrared rays. The movable filter 43 blocks or dampens the visible light. The movable filter 43 is operated by an actuator (not shown). The position of the moving filter 43 is between a position where the movable filter 43 a front surface of the high beam headlamp 42 covers, and changed a position at which the movable filter 43 from the front surface of the high beam headlamp 42 is removed.

The headlight system according to the embodiment is configured such that an infrared ray projection mode is selectable by an operation performed by a user when the headlights do not emit the visible light, for example during the day. In the infrared ray projection mode, the headlamp system emits an infrared beam forward to work in conjunction with the camera 20 to actively monitor a pedestrian or the like in front of the vehicle. For example, the user may operate a graphical user interface (GUI) switch or other mechanical switch provided on a touchpad when the user selects the infrared ray projection mode.

The light ECU 45 performs a power on / off control for each headlamp as well as an operating control for the moveable filter 43 out. In one case ( 1 ) in which the driver performs an operation for providing an instruction for a low beam, the light ECU switches 45 both the low beam headlight 41 as well as the high beam headlight 42 and actuates the actuator such that the movable filter 43 the front surface of the high beam headlamp 42 covers. In one case ( 2 ) in which the driver performs an operation for providing a high-beam instruction, the light ECU shifts 45 only the high beam headlight 42 and actuates the actuator such that the movable filter 43 from the front surface of the high beam headlamp 42 is moved back or removed. In one case ( 3 ), in which the driver selects the infrared ray projection mode during the day, switches the light ECU 45 only the high beam headlight 42 and actuates the actuator such that the movable filter 43 the front surface of the high beam headlamp 42 from covers (for the controls described above, by the light ECU 45 be executed, see also 5 ). For example, the driver operates a combination switch on the side of a steering wheel or the GUI (graphical user interface) switch on the touchpad. In that case ( 2 ), the dipped beam headlight 41 be turned on. The light ECU 45 gives a signal indicating the condition of its headlamp (especially the on / off state of the high beam headlamp 42 ) indicates to the electronic control section 26 if necessary (ie at regular intervals or each time the condition of a particular headlamp is changed).

The position, size and area of the notch filter 30 for visible light can be adjusted so that an area to which the visible light through the low beam headlamp 41 is broadcast, is included in the unblocked area, and an area to which the visible light and the infrared beam through the high beam headlamp 42 be projected, is included in the blocked area (see 6 ). In this case, the unblocked area receives sunlight during the day or through the low beam headlight 41 projected light, thus a road boundary line can be constantly displayed. Likewise, the blocked area receives the through the high beam headlamp 42 projected infrared ray (and the visible light when the moving filter 43 from the front surface of the high beam headlamp 42 is removed), thus a pedestrian or the like can be displayed.

The from the camera 20 output image data is used to execute a tracking control and a collision prediction control by an image recognition. Below is an example in which the camera 20 output image data are used.

For example, the lane keeping ECU is 50 a computer unit in which a CPU, a ROM, a RAM, and the like are connected to each other via a bus. In addition, the lane keeping ECU includes 50 a storage medium such as an HDD (Hard Disk Drive) or a DVD (Digital Versatile Disk), an input / output port, a timer, and a counter. The ROM stores programs executed by the CPU as well as data.

The Lane Keeping ECU 50 recognizes the positional relationship between the vehicle and a lane by moving a section that relates to the unblocked area into that of the camera 20 input image data is analyzed. Then the Lane Keeping ECU performs 50 an interference control for an electric power steering apparatus (ie, a lane departure control) to output an assist steering torque to cause the vehicle to travel without departure from the lane. Likewise, the Lane Keeping ECU controls 50 a speaker, a buzzer or the like, so that a warning sound is generated at a time when the vehicle is about to depart from the lane. This reduces the burden on a driver when operating the steering wheel and stabilizes the movement of the vehicle, thereby contributing to the traffic safety.

The positional relationship between the vehicle and the lane is determined based on the position of the road boundary line in the camera 20 detected image (ie in the image that is reproduced based on the image data). Hereinafter, the term "using the camera 20 generated image "is the image reproduced based on the image data. If the road boundary line in that using the camera 20 For example, points whose luminance gradient (a difference in luminance to an adjacent picture element) is equal to or larger than a threshold are extracted as feature points, and the points aligned in a straight line or a curved line are recognized as an outline of the road boundary line , A dotted road boundary line, such as botts' dots or cat's eyes, is recognized by suitably combining the above-described processing with a recognition processing or the like using a morphological operation. In any case, a contrast (a luminance difference) must exist between a road surface (for example, an asphalt road surface) and a road boundary line in which using the cameras 20 be clear picture to accurately recognize the road boundary line. In this regard, since the blocking filter 30 for visible light, the visible light from a region extending to the position several tens of meters away from the front end portion of the vehicle does not block or attenuate light; the contrast between the road surface and the road boundary line in a region-facing portion in FIG that using the camera 20 generated picture sufficiently clear.

The collision prediction ECU 60 recognizes the distance or the positional relationship between the vehicle and a pedestrian or the like by moving a portion related to the blocked area into that of the camera 20 input image data is analyzed. Then leads the collision prediction ECU 60 an interference control (a collision prediction control) for the electric a power steering device and an electronically controlled braking device to avoid a collision between the vehicle and a pedestrian or the like. More specifically, if, for example, there is a pedestrian or the like in a lane in which the vehicle is traveling, the distance between the vehicle and the pedestrian or the like becomes shorter than or equal to a predetermined distance, and the speed of the vehicle becomes higher than or equal to a predetermined speed is the collision prediction ECU 60 the control is such that a steering force is automatically output to avoid the pedestrian, or a braking force is automatically output to stop the vehicle from the pedestrian. The through the collision prediction ECU 60 executed control is not limited to the above-described control. The collision prediction ECU 60 may perform a control such that a seatbelt is automatically retracted or a pre-crash airbag is deployed in the vehicle to make preparations for receiving an impact at the time of a collision or an airbag is deployed on a hood to the head portion of the pedestrian or a hood is raised to receive the pedestrian's head.

The distance or positional relationship between the vehicle and a pedestrian or the like is determined based on the position and size of the pedestrian or the like in using the camera 20 detected image detected. In most cases, it is difficult to distinguish a pedestrian or the like from a background in the image formed by using the visible light, because the contrast is not necessarily clear. However, by projecting the infrared ray and forming an image using the reflected infrared ray, it is possible to relatively easily recognize a pedestrian or the like in the generated image. It is difficult to detect a pedestrian or the like in the unblocked area. However, a pedestrian or the like in the blocked area farther from the vehicle than the unblocked area is recognized, and the above-described control for avoiding collision or protection from a collision is started. Consequently, the function of the collision prediction control is maintained.

As is apparent from the manner described above, in which the vehicle imaging system 10 according to the embodiment, it can be seen in the vehicle imaging system 10 a camera device includes the image data including both a portion generated using the visible light and a portion generated using the infrared ray. Thus, for example, a road boundary line is recognized by analyzing the portion generated using the visible light, and a pedestrian or the like is recognized by analyzing the portion generated using the infrared rays. Further, the upper portion of the image (ie, the image of the area far from the vehicle) is generated by blocking or attenuating the visible light. Consequently, the vehicle imaging system is 10 suitable for detecting both the road boundary line and the pedestrian or the like. Likewise, the driver's front-view field is hardly hindered. Accordingly, with the simple configuration, it is possible to output the image data generated by executing both the visible light image and the infrared image.

Likewise, it is possible to constantly detect the road boundary line, since the low beam headlamp 41 the visible light radiates to the unblocked area at night. Further, it is possible to recognize a pedestrian or the like regardless of the time zone, since the high beam headlamp 42 can project the infrared ray (or the infrared ray and the visible light in some cases) to the blocked region regardless of the time zone.

It is conceivable, a radar device for detecting a pedestrian or to use the like. However, an object reflects with low permittivity, such as a pedestrian, the Radar waves insufficient. Consequently, it is for at least one detection a pedestrian or the like of greater advantage, to use the image generated using the infrared ray to use as the radar device.

It is the same in the vehicle control device 1 According to the embodiment, it is possible to execute the tracking control and the collision prediction control on the basis of the image data output from a camera device. Accordingly, with the simple configuration, it is possible to perform a variety of functions.

The optimum shutter speed and gain for generating image data using the visible light are different from the optimum shutter speed and gain for generating image data using the near infrared ray. Consequently, according to a flowchart as shown in FIG 7 is shown, the electronic control section 26 alternately image data suitable for detection of a road boundary line and image data from that are suitable for a recognition of a pedestrian or the like. The flowchart according to 7 is an example of the flowchart, and thus any modifications may be made to the flowchart.

First, the electronic control section determines 26 whether the high beam headlight 42 is turned on, referring to information provided by the light ECU 45 be entered (S100). At this time is the state of the moving filter 43 not determined. That is, it is determined whether the infrared ray is projected to the blocked area.

When the high beam headlight 42 is turned off (ie, if the infrared ray projection mode is not selected during the day, if the driver does not consider it necessary to perform the collision prediction control, or if preference is given to saving energy), the infrared ray is not projected to the blocked area, thus, it is difficult to recognize a pedestrian or the like. Accordingly, the electronic control section controls 26 the image sensor 24 at a shutter speed suitable for recognizing a road boundary line, and generates the image data using a gain suitable for recognizing a road boundary line (S104). In this case, the collision prediction control is not executed and only the lane keeping control can be executed.

When the high beam headlight 42 is turned on, determines the electronic control section 26 Whether an image data image to be transmitted is an even image (S102). Sequential numbers (integer numbers) are sequentially assigned to transmitted image data images concerning an imaging operation, starting from the first image data image at the time of starting the vehicle. The image data image assigned an even number is called an even image.

When the image data image to be transmitted is an even image, the electronic control section controls 26 the image sensor with the shutter speed suitable for detecting a road boundary line, and generates the image data using a gain suitable for recognizing a road boundary line (S104). When the image data image to be transmitted is an odd-numbered image, the electronic control section controls 26 the image sensor 24 at a shutter speed suitable for recognizing a pedestrian or the like, and generates the image data using a gain suitable for recognizing a pedestrian or the like (S106). That is, the control in step S104 and the control in step S106 are alternately executed.

In the vehicle imaging system 10 According to the embodiment, it is possible to output the image data generated by performing both the visible light image and the infrared ray image.

It is the same in the vehicle control device 1 According to the embodiment, it is possible to execute the tracking control and the collision prediction control on the basis of the image data output from a camera device. Accordingly, with the simple configuration, it is possible to perform a variety of functions.

Even though the embodiment has been described, the invention is not on the embodiment limited. Various modifications and substitutions can be made without departing from the scope of the invention.

For example, in the embodiment, the notch filter 30 for visible light on the windshield 32 attached, inserted therein or integrally formed therewith. As it is in 8th is shown, the notch filter 30 for visible light in the camera 20 between the imaging lens 22 and the image sensor 24 at a position near the image sensor 24 be arranged.

Likewise, the camera needs 20 do not necessarily map the area in front of the vehicle through the windshield, as described above in the embodiment. The camera 20 can be located at any position and can map an area in any direction as long as the camera 20 at least a part of an area around the vehicle maps. For example, the camera 20 may be provided in a side mirror and may map an area on the side of the vehicle. Alternatively, the camera 20 can be arranged near a front bumper and can map an area in front of the vehicle and on the side of the vehicle. In these cases, the blocking filter 30 be arranged for visible light at a predetermined position, so that the barrier filter 30 For visible light, part of the visible light coming into the camera 20 passes, according to a position can attenuate, at which the camera 20 is arranged. (The blocking filter 30 for visible light can be between the imaging lens 22 and the image sensor 24 as described above.) Also, means for projecting the infrared beam separated from the high beam headlight 43 to be provided. Alternatively, a means for projecting the infrared beam may not be provided and the camera 20 may generate the image using only the infrared ray emitted by a pedestrian due to the body temperature.

Also, the infrared ray projection mode described in the embodiment need not necessarily be selectable. In the vehicle imaging system 10 a pedestrian or the like can only be detected at night.

The Invention may, for example, in the automotive industry and the Used in the automotive supply industry.

A vehicle imaging system includes an imaging device ( 20 ) for imaging at least part of a region around a vehicle and a visible light attenuation device ( 30 ) for attenuating a portion of the visible light entering the imaging device ( 20 ). The imaging device ( 20 ) comprises an imaging element ( 24 ), which converts both infrared light and an infrared ray into electrical signals. The imaging device ( 20 ) gives both image data, which is generated on the basis of the electrical signal into which the visible light has been converted into the imaging device (FIG. 20 ) without passing through the visible light attenuation device ( 30 ), as well as image data generated on the basis of the electrical signal into which the infrared ray has been converted by the visible light attenuation device (FIG. 30 ) has gone through.

Claims (8)

A vehicle control apparatus comprising: a vehicle imaging system ( 10 ), which comprises an imaging device ( 20 ) provided with an imaging element ( 24 ), which converts both visible light and an infrared beam into electrical signals, for imaging at least part of an area around a vehicle, a low-beam headlight ( 41 ) radiating a visible light comprising a relatively small amount of infrared rays to a portion (II) of an area extending away from a front end portion of the vehicle; 42 ) radiating a light including a relatively large amount of infrared rays to a portion (I) farther from the vehicle than the portion (II) to which the visible light passes through the low beam headlamp (FIG. 41 ), a visible light attenuation device ( 30 ) located at a position through which an infrared ray emitted by the high beam headlamp ( 42 ) and by the imaging element ( 24 ), and which transmits a portion of visible light, which enters the imaging element (FIG. 24 ), dampens, and an electronic control device ( 26 ) configured to generate and output an electrical signal indicative of: image data based on visible light incident on the imaging element ( 24 ) without passing through the visible light attenuation device ( 30 ) by using a first shutter speed control optimized for detecting a road boundary line and a first gain control optimized for detecting a road boundary line, and image data based on the infrared ray detected by the visible light damper ( 30 ) and into the imaging element ( 2 ) by using a second shutter speed controller optimized for detecting a pedestrian and a second gain controller optimized for detecting a pedestrian, wherein the first shutter speed control is different from the second shutter speed control and the first gain control is different the second gain control, a collision prediction control device ( 60 ) for performing a collision prediction control based on the electric signal indicative of the image data based on the infrared ray using the second shutter speed control and the second gain control for detecting a pedestrian from the imaging device (Fig. 20 ) of the vehicle imaging system ( 10 ) and a tracking control device ( 50 ) for executing a tracking control on the basis of the electric signal indicative of the image data based on the visible light using the first shutter speed control and the first gain control for detecting a road boundary line from the imaging device (Fig. 20 ) of the vehicle imaging system ( 10 ) are generated and output. A vehicle control apparatus according to claim 1, wherein: the visible light attenuation means (14) 30 ) on a windscreen ( 32 ), and the imaging device ( 20 ) an area in front of the vehicle through the windshield ( 32 ) maps. A vehicle control apparatus according to claim 1, wherein said visible light damper means ( 30 ) between the imaging element ( 24 ) and an imaging lens ( 22 ) arranged in the imaging device ( 20 ) are provided. A vehicle control apparatus according to any one of claims 1 to 3, wherein: the high beam headlamp ( 42 ) emits the infrared beam to an area in front of the vehicle. Vehicle control device according to one of claims 1 to 4, wherein the high beam headlamp ( 42 ) is constructed of a halogen lamp. A vehicle control apparatus according to any one of claims 1 to 5, further comprising: a movable filter ( 43 ) in front of the high beam headlamp ( 42 ) is disposed in a direction in which the infrared ray is projected and which blocks or attenuates the visible light, and drive means for changing a position of the movable filter (FIG. 43 ) between a position where the movable filter ( 43 ) covers a front surface of the high beam headlamp, and a position where the movable filter ( 43 ) is away from the front surface of the high beam headlamp. A vehicle control apparatus according to claim 6, wherein in a low beam mode or a daytime infrared ray projection mode the drive means the movable filter to a position moves, around the front surface of the high beam headlamp, and in a high beam mode the drive means the movable filter to a position moves, from the front surface of the high beam headlamp is removed. Vehicle control device according to one of claims 1 to 7, wherein the electronic control device ( 26 ) is set to determine whether a first mode including only lane keeping control by the lane keeping control means or a second mode including both collision prediction control by the collision prediction control means and lane keeping control by the lane keeping control means is electric in the first mode Generating a signal indicating the image data using only the first shutter speed control and the first gain control and outputting the electric signal to the lane keeping control means; and in the second mode, alternately displaying an electric signal indicative of a first image data frame using the first shutter speed control and the first gain control, and an electrical signal indicative of a second image data frame generated using the two The shutter speed control and the second gain control are generated and output the electric signal indicative of the first image data frame to the lane keeping control means and output the electric signal indicative of the second image data frame to the collision anticipation control means.